<!DOCTYPE html>
<html lang="zh-CN">
    <head>
        <meta charset="utf-8">
        <meta name="viewport" content="width=device-width, initial-scale=1">
        <meta name="robots" content="noodp" />
        <title>CIA402从会到不会——重要OD介绍（2） - 陈的错题集</title><meta name="Description" content="陈的错题集 - 个人笔记"><meta property="og:title" content="CIA402从会到不会——重要OD介绍（2）" />
<meta property="og:description" content="详细了解EtherCAT中的COE协议，以及CIA402各个模式控制的细节 对象字典（OD） 当我们说使用CIA402进行驱动器控制器时，其实我" />
<meta property="og:type" content="article" />
<meta property="og:url" content="https://example.com/cia402_02importantod/" /><meta property="og:image" content="https://example.com/logo.png"/><meta property="article:section" content="posts" />
<meta property="article:published_time" content="2023-09-15T13:02:59+08:00" />
<meta property="article:modified_time" content="2023-09-15T13:02:59+08:00" /><meta property="og:site_name" content="陈的错题集" />
<meta name="twitter:card" content="summary_large_image"/>
<meta name="twitter:image" content="https://example.com/logo.png"/>

<meta name="twitter:title" content="CIA402从会到不会——重要OD介绍（2）"/>
<meta name="twitter:description" content="详细了解EtherCAT中的COE协议，以及CIA402各个模式控制的细节 对象字典（OD） 当我们说使用CIA402进行驱动器控制器时，其实我"/>
<meta name="application-name" content="陈的错题集">
<meta name="apple-mobile-web-app-title" content="陈的错题集"><meta name="theme-color" content="#ffffff"><meta name="msapplication-TileColor" content="#da532c"><link rel="shortcut icon" type="image/x-icon" href="/favicon.ico" />
        <link rel="icon" type="image/png" sizes="32x32" href="/favicon-32x32.png">
        <link rel="icon" type="image/png" sizes="16x16" href="/favicon-16x16.png"><link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png"><link rel="mask-icon" href="/safari-pinned-tab.svg" color="#5bbad5"><link rel="manifest" href="/site.webmanifest"><link rel="canonical" href="https://example.com/cia402_02importantod/" /><link rel="prev" href="https://example.com/cia402_01statemachine/" /><link rel="next" href="https://example.com/cia402_03positionmode/" /><link rel="stylesheet" href="/css/style.min.css"><link rel="preload" href="https://cdn.jsdelivr.net/npm/@fortawesome/fontawesome-free@6.1.1/css/all.min.css" as="style" onload="this.onload=null;this.rel='stylesheet'">
        <noscript><link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/@fortawesome/fontawesome-free@6.1.1/css/all.min.css"></noscript><link rel="preload" href="https://cdn.jsdelivr.net/npm/animate.css@4.1.1/animate.min.css" as="style" onload="this.onload=null;this.rel='stylesheet'">
        <noscript><link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/animate.css@4.1.1/animate.min.css"></noscript><script type="application/ld+json">
    {
        "@context": "http://schema.org",
        "@type": "BlogPosting",
        "headline": "CIA402从会到不会——重要OD介绍（2）",
        "inLanguage": "zh-CN",
        "mainEntityOfPage": {
            "@type": "WebPage",
            "@id": "https:\/\/example.com\/cia402_02importantod\/"
        },"image": ["https:\/\/example.com\/images\/Apple-Devices-Preview.png"],"genre": "posts","keywords": "cia402","wordcount":  1685 ,
        "url": "https:\/\/example.com\/cia402_02importantod\/","datePublished": "2023-09-15T13:02:59+08:00","dateModified": "2023-09-15T13:02:59+08:00","publisher": {
            "@type": "Organization",
            "name": "xxxx","logo": "https:\/\/example.com\/images\/avatar.png"},"author": {
                "@type": "Person",
                "name": "Jacob Chen"
            },"description": ""
    }
    </script></head>
    <body data-header-desktop="fixed" data-header-mobile="auto"><script type="text/javascript">(window.localStorage && localStorage.getItem('theme') ? localStorage.getItem('theme') === 'dark' : ('auto' === 'auto' ? window.matchMedia('(prefers-color-scheme: dark)').matches : 'auto' === 'dark')) && document.body.setAttribute('theme', 'dark');</script>

        <div id="mask"></div><div class="wrapper"><header class="desktop" id="header-desktop">
    <div class="header-wrapper">
        <div class="header-title">
            <a href="/" title="陈的错题集">💻陈的错题集</a>
        </div>
        <div class="menu">
            <div class="menu-inner"><a class="menu-item" href="/posts/"> 📜归档 </a><a class="menu-item" href="/tags/"> 🏷️标签 </a><a class="menu-item" href="/categories/"> 📂分类 </a><a class="menu-item" href="/about/"> ⭐关于 </a><span class="menu-item delimiter"></span><span class="menu-item search" id="search-desktop">
                        <input type="text" placeholder=" " id="search-input-desktop">
                        <a href="javascript:void(0);" class="search-button search-toggle" id="search-toggle-desktop" title="搜索">
                            <i class="fas fa-search fa-fw" aria-hidden="true"></i>
                        </a>
                        <a href="javascript:void(0);" class="search-button search-clear" id="search-clear-desktop" title="清空">
                            <i class="fas fa-times-circle fa-fw" aria-hidden="true"></i>
                        </a>
                        <span class="search-button search-loading" id="search-loading-desktop">
                            <i class="fas fa-spinner fa-fw fa-spin" aria-hidden="true"></i>
                        </span>
                    </span><a href="javascript:void(0);" class="menu-item theme-switch" title="切换主题">
                    <i class="fas fa-adjust fa-fw" aria-hidden="true"></i>
                </a></div>
        </div>
    </div>
</header><header class="mobile" id="header-mobile">
    <div class="header-container">
        <div class="header-wrapper">
            <div class="header-title">
                <a href="/" title="陈的错题集">💻陈的错题集</a>
            </div>
            <div class="menu-toggle" id="menu-toggle-mobile">
                <span></span><span></span><span></span>
            </div>
        </div>
        <div class="menu" id="menu-mobile"><div class="search-wrapper">
                    <div class="search mobile" id="search-mobile">
                        <input type="text" placeholder=" " id="search-input-mobile">
                        <a href="javascript:void(0);" class="search-button search-toggle" id="search-toggle-mobile" title="搜索">
                            <i class="fas fa-search fa-fw" aria-hidden="true"></i>
                        </a>
                        <a href="javascript:void(0);" class="search-button search-clear" id="search-clear-mobile" title="清空">
                            <i class="fas fa-times-circle fa-fw" aria-hidden="true"></i>
                        </a>
                        <span class="search-button search-loading" id="search-loading-mobile">
                            <i class="fas fa-spinner fa-fw fa-spin" aria-hidden="true"></i>
                        </span>
                    </div>
                    <a href="javascript:void(0);" class="search-cancel" id="search-cancel-mobile">
                        取消
                    </a>
                </div><a class="menu-item" href="/posts/" title="">📜归档</a><a class="menu-item" href="/tags/" title="">🏷️标签</a><a class="menu-item" href="/categories/" title="">📂分类</a><a class="menu-item" href="/about/" title="">⭐关于</a><a href="javascript:void(0);" class="menu-item theme-switch" title="切换主题">
                <i class="fas fa-adjust fa-fw" aria-hidden="true"></i>
            </a></div>
    </div>
</header><div class="search-dropdown desktop">
        <div id="search-dropdown-desktop"></div>
    </div>
    <div class="search-dropdown mobile">
        <div id="search-dropdown-mobile"></div>
    </div><main class="main">
                <div class="container"><div class="toc" id="toc-auto">
            <h2 class="toc-title">目录</h2>
            <div class="toc-content" id="toc-content-auto"></div>
        </div><article class="page single"><h1 class="single-title animate__animated animate__flipInX">CIA402从会到不会——重要OD介绍（2）</h1><div class="post-meta">
            <div class="post-meta-line"><span class="post-author"><a href="/" title="Author" rel="author" class="author"><i class="fas fa-user-circle fa-fw" aria-hidden="true"></i>Jacob Chen</a></span>&nbsp;<span class="post-category">收录于 <a href="/categories/%E8%BF%90%E5%8A%A8%E6%8E%A7%E5%88%B6/"><i class="far fa-folder fa-fw" aria-hidden="true"></i>运动控制</a></span></div>
            <div class="post-meta-line"><i class="far fa-calendar-alt fa-fw" aria-hidden="true"></i>&nbsp;<time datetime="2023-09-15">2023-09-15</time>&nbsp;<i class="fas fa-pencil-alt fa-fw" aria-hidden="true"></i>&nbsp;约 1685 字&nbsp;
                <i class="far fa-clock fa-fw" aria-hidden="true"></i>&nbsp;预计阅读 4 分钟&nbsp;</div>
        </div><div class="details toc" id="toc-static"  data-kept="">
                <div class="details-summary toc-title">
                    <span>目录</span>
                    <span><i class="details-icon fas fa-angle-right" aria-hidden="true"></i></span>
                </div>
                <div class="details-content toc-content" id="toc-content-static"><nav id="TableOfContents">
  <ul>
    <li><a href="#对象字典od">对象字典（OD）</a></li>
    <li><a href="#命令控制">命令控制</a>
      <ul>
        <li><a href="#od-6040h控制字"><strong>OD 6040h</strong>（控制字）</a>
          <ul>
            <li><a href="#数据位的含义"><strong>数据位的含义</strong></a></li>
            <li><a href="#bit4--bit6-各操作模式下的定义"><strong>Bit4 ~ Bit6 各操作模式下的定义</strong></a></li>
          </ul>
        </li>
        <li><a href="#od-6041h状态字"><strong>OD 6041h</strong>（状态字）</a>
          <ul>
            <li><a href="#数据位的含义-1"><strong>数据位的含义</strong></a></li>
            <li><a href="#bit12--bit13-各操作模式下的定义"><strong>Bit12 ~ Bit13 各操作模式下的定义</strong></a></li>
          </ul>
        </li>
      </ul>
    </li>
    <li><a href="#模式操作">模式操作</a>
      <ul>
        <li><a href="#od-6060h操作模式设定"><strong>OD 6060h</strong>（操作模式设定）</a>
          <ul>
            <li><a href="#功能描述"><strong>功能描述</strong></a></li>
          </ul>
        </li>
        <li><a href="#od-6061h当前操作模式显示"><strong>OD 6061h</strong>（当前操作模式显示）</a>
          <ul>
            <li><a href="#功能描述-1"><strong>功能描述</strong></a></li>
          </ul>
        </li>
      </ul>
    </li>
    <li><a href="#其他对象">其他对象</a></li>
  </ul>
</nav></div>
            </div><div class="content" id="content"><!-- # CIA402从会到会不会——重要OD介绍（2） -->
<blockquote>
<p>详细了解EtherCAT中的COE协议，以及CIA402各个模式控制的细节</p>
</blockquote>
<h2 id="对象字典od">对象字典（OD）</h2>
<p>当我们说使用CIA402进行驱动器控制器时，其实我们就是使用CIA402协议规定的OD（对象字典）与驱动器通讯，以达到我们想要的目的，所以了解最常见的OD就很有必要。</p>
<h2 id="命令控制">命令控制</h2>
<h3 id="od-6040h控制字"><strong>OD 6040h</strong>（控制字）</h3>
<table>
<thead>
<tr>
<th>索引（Index ）</th>
<th>6040h</th>
</tr>
</thead>
<tbody>
<tr>
<td>名称</td>
<td>ControlWord（控制字）</td>
</tr>
<tr>
<td>对象结构</td>
<td>VAR</td>
</tr>
<tr>
<td>数据类型</td>
<td>UINT16</td>
</tr>
<tr>
<td>读写权限</td>
<td>RW</td>
</tr>
<tr>
<td>可否PDO映射</td>
<td>Yes</td>
</tr>
<tr>
<td>设定范围</td>
<td>UINT16</td>
</tr>
<tr>
<td>默认值</td>
<td>0x0004</td>
</tr>
</tbody>
</table>
<p>6040h 对象包括了许多驱动器的控制功能，如：伺服使能、动作命令触发、错误复位、紧急停止等。它是CIA402控制中最基础的对象。</p>
<h4 id="数据位的含义"><strong>数据位的含义</strong></h4>
<table>
<thead>
<tr>
<th>位</th>
<th>功能</th>
<th>描述</th>
<th>说明</th>
</tr>
</thead>
<tbody>
<tr>
<td>bit0</td>
<td>伺服准备（Switch on）</td>
<td>0：无效；1：有效</td>
<td>伺服使能准备</td>
</tr>
<tr>
<td>bit1</td>
<td>接通主回路电源（Enable voltage）</td>
<td>0：无效；1：有效</td>
<td>-</td>
</tr>
<tr>
<td>bit2</td>
<td>快速停机（Quick Stop）</td>
<td>0：有效；1：无效</td>
<td>常闭信号，为0时，伺服快速停止</td>
</tr>
<tr>
<td>bit3</td>
<td>伺服运行（Enable operation）</td>
<td>0：无效；1：有效</td>
<td>伺服使能</td>
</tr>
<tr>
<td>bit4 ~ bit6</td>
<td>-</td>
<td>-</td>
<td>与各伺服运行模式相关</td>
</tr>
<tr>
<td>bit7</td>
<td>故障复位（Fault Reset）</td>
<td>上升沿信号有效</td>
<td>对于可复位故障和警告，执行故障复位功能</td>
</tr>
<tr>
<td>bit8</td>
<td>暂停（Halt）</td>
<td>0：无效；1：有效</td>
<td>-</td>
</tr>
<tr>
<td>bit9 ~ bit15</td>
<td>保留</td>
<td>-</td>
<td>-</td>
</tr>
</tbody>
</table>
<h4 id="bit4--bit6-各操作模式下的定义"><strong>Bit4 ~ Bit6 各操作模式下的定义</strong></h4>
<table>
<thead>
<tr>
<th>位</th>
<th>Profile Position Mode<br/>（位置规划模式）</th>
<th>Homing Mode<br/>（原点复归模式）</th>
<th>其他模式</th>
</tr>
</thead>
<tbody>
<tr>
<td>bit4</td>
<td>命令触发（上升沿有效）</td>
<td>原点复归（上升沿有效）</td>
<td>-</td>
</tr>
<tr>
<td>bit5</td>
<td>0：命令非立即生效<br/>1：命令立即生效</td>
<td>-</td>
<td>-</td>
</tr>
<tr>
<td>bit6</td>
<td>0：绝对位置命令<br/>1：相对位置命令</td>
<td>-</td>
<td>-</td>
</tr>
</tbody>
</table>
<h3 id="od-6041h状态字"><strong>OD 6041h</strong>（状态字）</h3>
<table>
<thead>
<tr>
<th>索引（Index ）</th>
<th>6041h</th>
</tr>
</thead>
<tbody>
<tr>
<td>名称</td>
<td>StatusWord （状态字）</td>
</tr>
<tr>
<td>对象结构</td>
<td>VAR</td>
</tr>
<tr>
<td>数据类型</td>
<td>UINT16</td>
</tr>
<tr>
<td>读写权限</td>
<td>RO</td>
</tr>
<tr>
<td>可否PDO映射</td>
<td>Yes</td>
</tr>
<tr>
<td>设定范围</td>
<td>UINT16</td>
</tr>
<tr>
<td>默认值</td>
<td>0</td>
</tr>
</tbody>
</table>
<p>如上，状态字内包含许多状态，如伺服使能、命令状态、异常信号、紧急停止等。</p>
<h4 id="数据位的含义-1"><strong>数据位的含义</strong></h4>
<table>
<thead>
<tr>
<th>位</th>
<th>状态</th>
<th>描述</th>
<th>说明</th>
</tr>
</thead>
<tbody>
<tr>
<td>bit0</td>
<td>伺服准备好（Ready to switch on）</td>
<td>0：无效；1：有效</td>
<td>-</td>
</tr>
<tr>
<td>bit1</td>
<td>可以开启伺服运行（Switched on）</td>
<td>0：无效；1：有效</td>
<td>-</td>
</tr>
<tr>
<td>bit2</td>
<td>伺服运行（Operation enabled）</td>
<td>0：无效；1：有效</td>
<td>-</td>
</tr>
<tr>
<td>bit3</td>
<td>故障（Fault）</td>
<td>0：无效；1：有效</td>
<td>-</td>
</tr>
<tr>
<td>bit4</td>
<td>主回路电源已接通（Voltage enabled）</td>
<td>0：无效；1：有效</td>
<td>-</td>
</tr>
<tr>
<td>bit5</td>
<td>快速停机（Quick stop）</td>
<td><strong>0：有效；1：无效</strong></td>
<td>-</td>
</tr>
<tr>
<td>bit6</td>
<td>伺服不可运行（Switch on disabled）</td>
<td>0：无效；1：有效</td>
<td>-</td>
</tr>
<tr>
<td>bit7</td>
<td>警告（Warning）</td>
<td>0：无效；1：有效</td>
<td>警告输出，伺服仍保持 Servo On 信号</td>
</tr>
<tr>
<td>bit8</td>
<td>保留</td>
<td>-</td>
<td>-</td>
</tr>
<tr>
<td>bit9</td>
<td>远程控制（Remote）</td>
<td>0：无效<br/>1：有效，控制字生效</td>
<td>-</td>
</tr>
<tr>
<td>bit10</td>
<td>目标到达（Target reached）</td>
<td>0：目标位置未到达<br/>1：目标位置到达</td>
<td>-</td>
</tr>
<tr>
<td>bit11</td>
<td>保留</td>
<td>-</td>
<td>-</td>
</tr>
<tr>
<td>bit12 ~ bit13</td>
<td>-</td>
<td>-</td>
<td>与各伺服运行模式相关</td>
</tr>
<tr>
<td>bit14 ~ bit15</td>
<td>保留</td>
<td>-</td>
<td>-</td>
</tr>
</tbody>
</table>
<p><em>注：状态字的每一个 bit 位单独读取无意义，必须与其他位共同组成，反馈伺服当前状态。</em></p>
<h4 id="bit12--bit13-各操作模式下的定义"><strong>Bit12 ~ Bit13 各操作模式下的定义</strong></h4>
<table>
<thead>
<tr>
<th>位</th>
<th>Profile Position Mode<br/>（位置规划模式）</th>
<th>Profile Velocity Mode<br/>（速度规划模式）</th>
<th>Profile Torque Mode<br/>（扭矩规划模式）</th>
<th>Homing Mode<br/>（原点复归模式）</th>
<th>Cyclic Synchronous Position Mode<br/>（周期同步位置模式）</th>
<th>Cyclic Synchronous Velocity Mode<br/>（周期同步速度模式）</th>
<th>Cyclic Synchronous Torque Mode<br/>（周期同步扭矩模式）</th>
</tr>
</thead>
<tbody>
<tr>
<td>bit12</td>
<td>伺服收到命令信号<br/>（Set-point Acknowledge）</td>
<td>零速度</td>
<td>-</td>
<td>原点复归完成</td>
<td>模式生效</td>
<td>模式生效</td>
<td>模式生效</td>
</tr>
<tr>
<td>bit13</td>
<td>追随误差</td>
<td>-</td>
<td>-</td>
<td>原点复归异常</td>
<td>追随误差</td>
<td>-</td>
<td>-</td>
</tr>
</tbody>
</table>
<h2 id="模式操作">模式操作</h2>
<h3 id="od-6060h操作模式设定"><strong>OD 6060h</strong>（操作模式设定）</h3>
<table>
<thead>
<tr>
<th>索引（Index ）</th>
<th>6060h</th>
</tr>
</thead>
<tbody>
<tr>
<td>名称</td>
<td>Modes of operation（操作模式）</td>
</tr>
<tr>
<td>对象结构</td>
<td>VAR</td>
</tr>
<tr>
<td>数据类型</td>
<td>INT8</td>
</tr>
<tr>
<td>读写权限</td>
<td>RW</td>
</tr>
<tr>
<td>可否PDO映射</td>
<td>Yes</td>
</tr>
<tr>
<td>设定范围</td>
<td>INT8</td>
</tr>
<tr>
<td>默认值</td>
<td>0</td>
</tr>
</tbody>
</table>
<h4 id="功能描述"><strong>功能描述</strong></h4>
<table>
<thead>
<tr>
<th>设定值</th>
<th>模式</th>
</tr>
</thead>
<tbody>
<tr>
<td>0</td>
<td>保留</td>
</tr>
<tr>
<td>1</td>
<td>Profile Position Mode（位置规划模式）</td>
</tr>
<tr>
<td>2</td>
<td>保留</td>
</tr>
<tr>
<td>3</td>
<td>Profile Velocity Mode（速度规划模式）</td>
</tr>
<tr>
<td>4</td>
<td>Profile Torque Mode（扭矩规划模式）</td>
</tr>
<tr>
<td>5</td>
<td>保留</td>
</tr>
<tr>
<td>6</td>
<td>Homing Mode（原点复归模式）</td>
</tr>
<tr>
<td>7</td>
<td>保留</td>
</tr>
<tr>
<td>8</td>
<td>Cyclic Synchronous Position Mode（周期同步位置模式）</td>
</tr>
<tr>
<td>9</td>
<td>Cyclic Synchronous Velocity Mode（周期同步速度模式）</td>
</tr>
<tr>
<td>10</td>
<td>Cyclic Synchronous Torque Mode（周期同步扭矩模式）</td>
</tr>
</tbody>
</table>
<h3 id="od-6061h当前操作模式显示"><strong>OD 6061h</strong>（当前操作模式显示）</h3>
<table>
<thead>
<tr>
<th>索引（Index ）</th>
<th>6061h</th>
</tr>
</thead>
<tbody>
<tr>
<td>名称</td>
<td>Modes of operation display（操作模式显示）</td>
</tr>
<tr>
<td>对象结构</td>
<td>VAR</td>
</tr>
<tr>
<td>数据类型</td>
<td>INT8</td>
</tr>
<tr>
<td>读写权限</td>
<td>RO</td>
</tr>
<tr>
<td>可否PDO映射</td>
<td>Yes</td>
</tr>
<tr>
<td>设定范围</td>
<td>INT8</td>
</tr>
<tr>
<td>默认值</td>
<td>0</td>
</tr>
</tbody>
</table>
<h4 id="功能描述-1"><strong>功能描述</strong></h4>
<p>同 OD 6060h（操作模式）。</p>
<h2 id="其他对象">其他对象</h2>
<p>针对不同的操作模式的控制，驱动器会要求不同的对象字典数据。</p>
<p>其他对象可以参考《CIA402 标准 Part2》部分资料或者<a href="https://downloadcenter.delta-china.com.cn/DownloadCenter?v=1&amp;CID=06&amp;itemID=060201&amp;downloadID=A3%20Series&amp;dataType=3&amp;sort_expr=cdate&amp;sort_dir=DESC" target="_blank" rel="noopener noreffer ">《台达A3系列伺服操作手册-EtherCAT模式》</a>部分内容。</p>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/CIA402-OD-%e8%af%b4%e6%98%8e%e4%b9%a6.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/CIA402-OD-%e8%af%b4%e6%98%8e%e4%b9%a6.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/CIA402-OD-%e8%af%b4%e6%98%8e%e4%b9%a6.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/CIA402-OD-%e8%af%b4%e6%98%8e%e4%b9%a6.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/CIA402-OD-说明书.png"
        title="台达A3系列伺服操作手册" /></p>
</div><div class="post-footer" id="post-footer">
    <div class="post-info">
        <div class="post-info-line">
            <div class="post-info-mod">
                <span>更新于 2023-09-15</span>
            </div></div>
        <div class="post-info-line">
            <div class="post-info-md"><span>
                            <a class="link-to-markdown" href="/cia402_02importantod/index.md" target="_blank">阅读原始文档</a>
                        </span></div>
            <div class="post-info-share">
                <span></span>
            </div>
        </div>
    </div>

    <div class="post-info-more">
        <section class="post-tags"><i class="fas fa-tags fa-fw" aria-hidden="true"></i>&nbsp;<a href="/tags/cia402/">cia402</a></section>
        <section>
            <span><a href="javascript:void(0);" onclick="window.history.back();">返回</a></span>&nbsp;|&nbsp;<span><a href="/">主页</a></span>
        </section>
    </div>

    <div class="post-nav"><a href="/cia402_01statemachine/" class="prev" rel="prev" title="CIA402从会到不会——状态机（1）"><i class="fas fa-angle-left fa-fw" aria-hidden="true"></i>CIA402从会到不会——状态机（1）</a>
            <a href="/cia402_03positionmode/" class="next" rel="next" title="CIA402从会到不会——位置模式（3）">CIA402从会到不会——位置模式（3）<i class="fas fa-angle-right fa-fw" aria-hidden="true"></i></a></div>
</div>
</article></div>
            </main><footer class="footer">
        <div class="footer-container"><div class="footer-line">由 <a href="https://gohugo.io/" target="_blank" rel="noopener noreffer" title="Hugo 0.115.4">Hugo</a> 强力驱动 | 主题 - <a href="https://github.com/dillonzq/LoveIt" target="_blank" rel="noopener noreffer" title="LoveIt 0.2.11"><i class="far fa-kiss-wink-heart fa-fw" aria-hidden="true"></i> LoveIt</a>
                </div><div class="footer-line" itemscope itemtype="http://schema.org/CreativeWork"><i class="far fa-copyright fa-fw" aria-hidden="true"></i><span itemprop="copyrightYear">2023 - 2024</span><span class="author" itemprop="copyrightHolder">&nbsp;<a href="/" target="_blank">Jacob Chen</a></span>&nbsp;|&nbsp;<span class="license"><a rel="license external nofollow noopener noreffer" href="https://creativecommons.org/licenses/by-nc-sa/4.0/" target="_blank">CC BY-NC-SA 4.0</a></span></div>
        </div>
    </footer></div>

        <div id="fixed-buttons"><a href="#" id="back-to-top" class="fixed-button" title="回到顶部">
                <i class="fas fa-arrow-up fa-fw" aria-hidden="true"></i>
            </a><a href="#" id="view-comments" class="fixed-button" title="查看评论">
                <i class="fas fa-comment fa-fw" aria-hidden="true"></i>
            </a>
        </div><script type="text/javascript" src="https://cdn.jsdelivr.net/npm/autocomplete.js@0.38.1/dist/autocomplete.min.js"></script><script type="text/javascript" src="https://cdn.jsdelivr.net/npm/lunr@2.3.9/lunr.min.js"></script><script type="text/javascript" src="/lib/lunr/lunr.stemmer.support.min.js"></script><script type="text/javascript" src="/lib/lunr/lunr.zh.min.js"></script><script type="text/javascript" src="https://cdn.jsdelivr.net/npm/lazysizes@5.3.2/lazysizes.min.js"></script><script type="text/javascript" src="https://cdn.jsdelivr.net/npm/clipboard@2.0.11/dist/clipboard.min.js"></script><script type="text/javascript">window.config={"code":{"copyTitle":"复制到剪贴板","maxShownLines":50},"comment":{},"search":{"highlightTag":"em","lunrIndexURL":"/index.json","lunrLanguageCode":"zh","lunrSegmentitURL":"/lib/lunr/lunr.segmentit.js","maxResultLength":10,"noResultsFound":"没有找到结果","snippetLength":30,"type":"lunr"}};</script><script type="text/javascript" src="/js/theme.min.js"></script></body>
</html>
